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CMakeLists.txt
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CMakeLists.txt
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#
# Author: Jakob Engel <jajuengel@gmail.com>
# Contributor: Stefan Wilkes <stefan.wilkes@gmail.com>
#
cmake_minimum_required(VERSION 2.8.3)
project(tum_ardrone)
## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
ardrone_autonomy
cv_bridge
dynamic_reconfigure
geometry_msgs
sensor_msgs
std_msgs
std_srvs
message_generation
roscpp
rospy
)
# Compile third party libs
include(ExternalProject)
ExternalProject_Add(thirdparty
URL ${PROJECT_SOURCE_DIR}/thirdparty/thirdparty.tar.gz
PREFIX ${CMAKE_BINARY_DIR}/thirdparty
CONFIGURE_COMMAND ""
BUILD_COMMAND make
INSTALL_COMMAND ""
BUILD_IN_SOURCE 1
)
# ------------------- add dynamic reconfigure api ------------------------------------
generate_dynamic_reconfigure_options(
cfg/AutopilotParams.cfg
cfg/GUIParams.cfg
cfg/StateestimationParams.cfg
)
################################################
## Declare ROS messages, services and actions ##
################################################
## Generate messages in the 'msg' folder
add_message_files(FILES filter_state.msg)
## Generate services in the 'srv' folder
add_service_files(
DIRECTORY srv
FILES
SetReference.srv
SetMaxControl.srv
SetInitialReachDistance.srv
SetStayWithinDistance.srv
SetStayTime.srv
)
## Generate added messages
generate_messages(DEPENDENCIES std_msgs)
###################################
## catkin specific configuration ##
###################################
catkin_package(CATKIN_DEPENDS message_runtime std_msgs ardrone_autonomy)
###########
## Build ##
###########
include_directories(${catkin_INCLUDE_DIRS})
# --------------------------- stateestimation & PTAM --------------------------------
# set header ans source files
set(STATEESTIMATION_SOURCE_FILES
src/stateestimation/GLWindow2.cc
src/stateestimation/GLWindowMenu.cc
src/stateestimation/main_stateestimation.cpp
src/stateestimation/DroneKalmanFilter.cpp
src/stateestimation/Predictor.cpp
src/stateestimation/PTAMWrapper.cpp
src/stateestimation/MapView.cpp
src/stateestimation/EstimationNode.cpp
src/stateestimation/PTAM/ATANCamera.cc
src/stateestimation/PTAM/Bundle.cc
src/stateestimation/PTAM/HomographyInit.cc
src/stateestimation/PTAM/KeyFrame.cc
src/stateestimation/PTAM/Map.cc
src/stateestimation/PTAM/MapMaker.cc
src/stateestimation/PTAM/MapPoint.cc
src/stateestimation/PTAM/MiniPatch.cc
src/stateestimation/PTAM/PatchFinder.cc
src/stateestimation/PTAM/Relocaliser.cc
src/stateestimation/PTAM/ShiTomasi.cc
src/stateestimation/PTAM/SmallBlurryImage.cc
src/stateestimation/PTAM/Tracker.cc
)
set(STATEESTIMATION_HEADER_FILES
src/stateestimation/GLWindow2.h
src/stateestimation/GLWindowMenu.h
src/stateestimation/MouseKeyHandler.h
src/HelperFunctions.h
src/stateestimation/DroneKalmanFilter.h
src/stateestimation/Predictor.h
src/stateestimation/PTAMWrapper.h
src/stateestimation/MapView.h
src/stateestimation/EstimationNode.h
src/stateestimation/PTAM/ATANCamera.h
src/stateestimation/PTAM/Bundle.h
src/stateestimation/PTAM/customFixes.h
src/stateestimation/PTAM/HomographyInit.h
src/stateestimation/PTAM/KeyFrame.h
src/stateestimation/PTAM/LevelHelpers.h
src/stateestimation/PTAM/Map.h
src/stateestimation/PTAM/MapMaker.h
src/stateestimation/PTAM/MapPoint.h
src/stateestimation/PTAM/MEstimator.h
src/stateestimation/PTAM/MiniPatch.h
src/stateestimation/PTAM/OpenGL.h
src/stateestimation/PTAM/PatchFinder.h
src/stateestimation/PTAM/Relocaliser.h
src/stateestimation/PTAM/settingsCustom.h
src/stateestimation/PTAM/ShiTomasi.h
src/stateestimation/PTAM/SmallBlurryImage.h
src/stateestimation/PTAM/SmallMatrixOpts.h
src/stateestimation/PTAM/TrackerData.h
src/stateestimation/PTAM/Tracker.h
src/stateestimation/PTAM/VideoSource.h
)
# set required libs and headers
include_directories(
${CMAKE_BINARY_DIR}/thirdparty/src/thirdparty/TooN/include
${CMAKE_BINARY_DIR}/thirdparty/src/thirdparty/libcvd/include
${CMAKE_BINARY_DIR}/thirdparty/src/thirdparty/gvars3/include
)
link_directories(
${CMAKE_BINARY_DIR}/thirdparty/src/thirdparty/libcvd/lib
${CMAKE_BINARY_DIR}/thirdparty/src/thirdparty/gvars3/lib
)
set(PTAM_LIBRARIES GL glut cvd GVars3 blas lapack)
add_definitions(-DKF_REPROJ)
# build!
add_executable(drone_stateestimation ${STATEESTIMATION_SOURCE_FILES} ${STATEESTIMATION_HEADER_FILES})
set_target_properties(drone_stateestimation PROPERTIES COMPILE_FLAGS "-D_LINUX -D_REENTRANT -Wall -O3 -march=nocona -msse3")
target_link_libraries(drone_stateestimation ${PTAM_LIBRARIES} ${catkin_LIBRARIES})
add_dependencies(drone_stateestimation thirdparty ${PROJECT_NAME}_gencpp ${PROJECT_NAME}_gencfg)
# ------------------------- autopilot & KI -----------------------------------------
# set header ans source files
set(AUTOPILOT_SOURCE_FILES
src/autopilot/main_autopilot.cpp
src/autopilot/ControlNode.cpp
src/autopilot/DroneController.cpp
src/autopilot/KI/KILand.cpp
src/autopilot/KI/KIAutoInit.cpp
src/autopilot/KI/KIFlyTo.cpp
)
set(AUTOPILOT_HEADER_FILES
src/autopilot/ControlNode.h
src/autopilot/DroneController.h
src/autopilot/KI/KILand.h
src/autopilot/KI/KIAutoInit.h
src/autopilot/KI/KIFlyTo.h
src/autopilot/KI/KIProcedure.h
)
# build!
add_executable(drone_autopilot ${AUTOPILOT_SOURCE_FILES} ${AUTOPILOT_HEADER_FILES})
target_link_libraries(drone_autopilot ${catkin_LIBRARIES})
add_dependencies(drone_autopilot thirdparty ${PROJECT_NAME}_gencpp ${PROJECT_NAME}_gencfg)
# ---------------------------- GUI --------------------------------------------------
# set header ans source files
set(GUI_SOURCE_FILES
src/UINode/main_GUI.cpp
src/UINode/tum_ardrone_gui.cpp
src/UINode/RosThread.cpp
src/UINode/PingThread.cpp
)
set(GUI_HEADER_FILES
src/UINode/tum_ardrone_gui.h
src/UINode/RosThread.h
src/UINode/PingThread.h
)
# *.ui
set(GUI_UI_FILES
src/UINode/tum_ardrone_gui.ui
)
# *.qrc
set(GUI_RESOURCE_FILES
)
# do QT stuff
ADD_DEFINITIONS( -Wall )
find_package(Qt4 REQUIRED)
include(${QT_USE_FILE})
QT4_ADD_RESOURCES(GUI_RESOURCE_FILES_CPP ${GUI_RESOURCE_FILES})
QT4_WRAP_UI(GUI_UI_FILES_HPP ${GUI_UI_FILES})
QT4_WRAP_CPP(GUI_HEADER_FILES_HPP ${GUI_HEADER_FILES})
include_directories(${CMAKE_CURRENT_BINARY_DIR})
# build!
add_executable(drone_gui ${GUI_SOURCE_FILES} ${GUI_RESOURCE_FILES_CPP} ${GUI_UI_FILES_HPP} ${GUI_HEADER_FILES_HPP})
target_link_libraries(drone_gui ${QT_LIBRARIES} cvd ${catkin_LIBRARIES})
add_dependencies(drone_gui thirdparty ${PROJECT_NAME}_gencpp ${PROJECT_NAME}_gencfg)